You can find demo launch files under

cd aerial_mapper_demos/launch/

To launch the node, type e.g.:

roslaunch aerial_mapper_demos 0-synthetic-cadastre-dense-pcl.launch

A (semi-)synthetic sample dataset can be downloaded here. The dataset contains 428 images, the true body poses and a camera calibration file. The underlying mesh is generated with Pix4D.

A real-world sample dataset can be downloaded here. The dataset contains 249 images, the estimates body poses and a camera calibration file. The poses were estimated using the framework as described in Mapping on the Fly.